Human-Agent Interaction Simposium A Heterogeneous Robot System U

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1 Human-Agent Interaction Simposium A {hosoi,mori,sugi}@itl.t.u-tokyo.ac.jp 3 Heterogeneous Robot System Using Blimps Kazuhiro HOSOI, Akihiro MORI, and Masanori SUGIMOTO Graduate School of Frontier Sciences, University of Tokyo Kashiwanoha, Kashiwa-shi, Chiba,JAPAN zip code: School of Engneering, University of Tokyo Hongo,Bunkyo-ku,Tokyo,JAPAN zip code: {hosoi,mori,sugi}@itl.t.u-tokyo.ac.jp Abstract We propose an indoor heterogeneous robot system using flying modules. The flying robots can move in a three-dimensional space about according to the situation, and monitor a large area from a higher view point. The information taken from the flying robots enables ground robots to provide the service to humans more effectively, in a dynamic environment with many people. Therefore we develop the heterogeneous robot system which makes flying robots work as sensors. For this purpose, we use indoor blimps as platforms of the flying robots. In this paper, we mainly describe system configuration and preliminary experiments. Key words heterogneous robot, blimp, ground robot, sensor network 1. [1] [2] 1

2 Corke Chaimowicz Corke [3] GPS Corke [4] GPS Chaimowicz GPS IMU [5] GPS IMU GPS GPS Bertuccelli [6] Bertuccelli 2

3 2. 2 Bermudez [7] 2 Iida [8] Pfisterer [9] Zufferey [10] Bluetooth Zhang [11] Welsby [12] m 150l 100g fps PC LED LED 0.5 3

LED PC(Sony, vaio typeu) LED 4. 2 200 LED 4. 1 5 4 3.

4 LED PC(Sony, vaio typeu) LED LED PC PC LED 1 2 ( ) 3 LED 4 LED LED LED LED 5 LED LED 6 LED LED LED 5 1 LED 2 θ 3 π < θ < π θ < π π < θ LED

5 LED 3 1 Up and Left Up Up and Right Left move about according to the distance between LEDs Right Down and Left Down Down and Right [1],, 23, 6, pp (2005). [2] [3] P. Corke, R. Petersony and D. Rus: Networked robots: Flying robot navigation using a sensor net, International Symposium of Robotics Research 2003 (2003). [4] P. Corke, S. Hrabar, R. Peterson, D. Rus, S. Saripalli and G. Sukhatme: Deployment and connectivity repair of a sensor net with a flying robot, International Symposium of Robotics Research 200(ISSR 04) (2004). [5] L. Chaimowicz, B. Grocholsky, J. F. Keller, V. Kumar and C. J. Taylor: Experiments in multirobot air-ground coordination, International Conference on Robotics and Automation, pp (2004). [6] Bertuccelli and L. Francesco: Robust planning for heterogeneous uavs in uncertain environment, Massachusetts Institute of Technology (2004). [7] S. B. i Badia, P. Pyk and P. F. Verschure: A biologically based flight control system for a blimp-based uav, International Conference on Robotics and Automation 2005 (2005). [8] F. Iida and D. Lambrinos: Navigation in an autonomous 5

6 flying robot by using a biologically inspired visual odometer, Sensor Fusion and Decentralized Control in Robotic System III, Photonics East, Proceeding of SPIE, pp (2000). [9] S. F. C. Buschmann. D. Pfisterer: Experimenting with computer swarms: a mobile platform based on blimps, MobiSys (2004). [10] J.-C. Zufferey, D. Floreano, M. van Leeuwen and T. Merenda: Evolving vision-based flying robots, Biologically Motivated Computer Vision Second International Workshop, BMCV 2002, pp (2002). [11] H. Zhang and J. P. Ostrowski: Visual servoing with dynamics: control of an unmanned blimp, IEEE International Conference on Robotics and Automation, 1, pp (1999). [12] J. Welsby and C. Melhuish: Autonomous minimalist following in three dimensions:a study with small-scale dirigibles, Towards Intelligent Mobile Robots (2001). 6

28 Horizontal angle correction using straight line detection in an equirectangular image

28 Horizontal angle correction using straight line detection in an equirectangular image 1170283 2017 3 1 2 i Abstract Horizontal angle correction using straight line detection in an equirectangular image